修改小问题，加入飞机亮灯显示，加入飞行航线亮灯控制

[App.xaml.cs]修改报错的bug
[FlightTaskManager.cs] 防止报错
[FlightTask_FlyTo.cs]加入亮灯控制
[FlightTask_TakeOff.cs]起飞时打开灯，平飞是关闭灯
[MainWindow.xaml.cs]从本地得到亮灯变量，不用异步取
[MapView_CopterDrawing.cs]亮灯时显示个外边框
[ModifyTaskView.xaml]飞往加入亮灯控制开关

Plane.FormationCreator/App.xaml.cs

@@ -54,8 +54,16 @@ namespace Plane.FormationCreator
             };
             this.Exit += (s, e) =>
             {
-                TcpServerConnectionManager.Instance.StopListening();
+                try
-                UdpServerConnectionManager.Instance.StopReceiving();
+                { 
+                    TcpServerConnectionManager.Instance.StopListening();
+                    UdpServerConnectionManager.Instance.StopReceiving();
+                }
+                catch (Exception ex)
+                {
+                  //  RaiseExceptionThrown(ex);
+                }
+
             };
             //new Test().Prepare().Run();
         }
@@ -110,6 +118,7 @@ namespace Plane.FormationCreator
             if (!TcpServerConnectionManager.Instance.StartListening())
             {
                 Alert.Show("网络连接不正常，无法启动监听。");
+                return;
             }
             UdpServerConnectionManager.Instance.ExceptionThrown += (sender, e1) =>
             {

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -47,7 +47,8 @@ namespace Plane.FormationCreator.Formation
                         }
                     }
                 }
-                selectedCopter.SetShowLEDFlashAsync(1, 100);
+                if (selectedCopter!=null)
+                  selectedCopter.SetShowLEDFlashAsync(1, 100);
             };
 
             TaskAdded += (sender, e) =>
@@ -189,7 +190,15 @@ namespace Plane.FormationCreator.Formation
                     newTask.SingleCopterInfos.Add(newSingleCopterInfo);
                 }
                 Tasks.Add(newTask);
-                TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { LastTask = lastTask, AddedTask = newTask });
+                try
+                {
+                    TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { LastTask = lastTask, AddedTask = newTask });
+                }
+                catch (Exception ex)
+                {
+                    //RaiseExceptionThrown(ex);
+                }
+
                 SelectedTask = newTask;
                 SelectedTaskIndex = Tasks.Count - 1;
             }

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -18,6 +18,15 @@ namespace Plane.FormationCreator.Formation
             set { Set(nameof(StaggerRoutes), ref _StaggerRoutes, value); }
         }
 
+        
+       private bool _FlytoShowLED = true;
+        public bool FlytoShowLED
+        {
+            get { return _FlytoShowLED; }
+            set { Set(nameof(FlytoShowLED), ref _FlytoShowLED, value); }
+        }
+
+
         private bool _VerticalLift = false;
         public bool VerticalLift               // 垂直升降标志位，后面需要加入即使拖动地图上的飞机，也不会变化经纬度. added by ZJF
         {
@@ -522,7 +531,8 @@ namespace Plane.FormationCreator.Formation
                     tasks[i] = await Task.Factory.StartNew(async () =>
                     {
                         var internalInfo = info;
-                        //if (i1 > 0)
+                        await info.Copter.SetShowLEDAsync(FlytoShowLED);
+                         //if (i1 > 0)
                         //{
                         //    var prevCopter = infos[i1 - 1].Copter;
                         //    while (CheckCrossing(infos, i1) &&

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -143,7 +143,7 @@ namespace Plane.FormationCreator.Formation
             {
                 return;
             }
-            //await copter.SetShowLEDAsync(true);
+            await copter.SetShowLEDAsync(true);
             await copter.UnlockAsync();
             for (int i = 0; !copter.IsUnlocked; i++)
             {
@@ -225,6 +225,7 @@ namespace Plane.FormationCreator.Formation
             if (info.takeOffStage == 1)
             {
                 await info.Copter.GuidAsync();
+                await info.Copter.SetShowLEDAsync(false);
                 for (int j = 0; j < 3; j++)
                 {
                     await info.Copter.FlyToAsync(copterNextTask.TargetLat, copterNextTask.TargetLng, takeOffAlt);

Plane.FormationCreator/MainWindow.xaml.cs

@@ -111,7 +111,7 @@ namespace Plane.FormationCreator
                         var copters = _copterManager.AcceptingControlCopters;
                         await Task.WhenAll(copters.Select(async copter =>
                         {
-                            isledon = await copter.GetShowLEDAsync();
+                            isledon =  copter.GetShowLEDAsync();
                             await copter.SetShowLEDAsync(!isledon);
                         })).ConfigureAwait(false);
 

Plane.FormationCreator/Views/CopterInfoView.xaml

@@ -63,7 +63,7 @@
                 <TextBlock Text="{Binding Path=SatCount}" />
             </StackPanel>
             <StackPanel>
-                <TextBlock Text="Heading：" />
+                <TextBlock Text="方向：" />
                 <TextBlock Text="{Binding Path=Heading}" />
             </StackPanel>
             <!--<StackPanel>
@@ -87,7 +87,7 @@
                 <TextBlock Text="{Binding FlightDistance, StringFormat=0.##}" />
             </StackPanel>
             <StackPanel>
-                <TextBlock Text="Fix type：" />
+                <TextBlock Text="锁定类型：" />
                 <TextBlock Text="{Binding GpsFixType}" />
             </StackPanel>
             <!--
@@ -156,7 +156,7 @@
                 <TextBlock Text="{Binding Channel4}" />
             </StackPanel>
             <StackPanel>
-                <TextBlock Text="HDOP：" />
+                <TextBlock Text="定位精度：" />
                 <TextBlock Text="{Binding GpsHdop, StringFormat=0.##}" />
             </StackPanel>
         </StackPanel>

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -94,6 +94,7 @@ namespace Plane.FormationCreator.Views
                     var location = new Location(Copter.Latitude, Copter.Longitude, Copter.Altitude);
                     Point center = _map.LocationToViewportPoint(location);
                     bool locationUpdated = true;
+                    SolidColorBrush blackBrush = new SolidColorBrush();
                     if (this.Dot == null)
                     {
                         Track = new MapPolyline();
@@ -109,6 +110,7 @@ namespace Plane.FormationCreator.Views
                         Dot.Points.Add(new Point(COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
 
                         Dot.Fill = _brush;    // new SolidColorBrush(Color.FromArgb(200, 0, 122, 204));
+                        Dot.StrokeThickness  = 1;
                         Dot.Width = COPTER_RADIUS * 2;
                         Dot.Height = COPTER_RADIUS * 2;
                         ToolTip tt = new ToolTip();
@@ -149,6 +151,12 @@ namespace Plane.FormationCreator.Views
                         }
                     }
 
+                    if (Copter.GetShowLEDAsync())
+                        blackBrush.Color = Colors.White;
+                    else
+                        blackBrush.Color = Colors.Transparent;
+                    Dot.Stroke = blackBrush;
+
                     var trans = Dot.RenderTransform as RotateTransform;
                     if (trans == null)
                     {

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -93,6 +93,7 @@
                             <Grid.RowDefinitions>
                                 <RowDefinition />
                                 <RowDefinition />
+                                <RowDefinition />
                             </Grid.RowDefinitions>
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition />
@@ -104,6 +105,11 @@
                             <TextBlock Grid.Row="1" Text="垂直升降: " />
                             <CheckBox Grid.Row="1" Grid.Column="1"
                                       IsChecked="{Binding VerticalLift}" />
+
+                            <TextBlock Grid.Row="2" Text="开灯: " />
+                            <CheckBox Grid.Row="2" Grid.Column="1" 
+                                      IsChecked="{Binding FlytoShowLED}" />
+
                         </Grid>
 
                         <Separator Grid.Row="1" />